feat(avoidance/goal_planner): execute avoidance and pull over simulta…

…neously Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Jan 16, 2024 · d5756b1 · d5756b1
1 parent 5b6dab3
commit d5756b1
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -122,7 +122,8 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 20.0                 # [m]
+        object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]
@@ -215,9 +216,6 @@
           nominal_avoidance_speed: 8.33                 # [m/s]
         # return dead line
         return_dead_line:
-          goal:
-            enable: true                                # [-]
-            buffer: 30.0                                # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1